CN217475959U - Multi-connecting-rod type underwater clamping mechanical gripper device - Google Patents
Multi-connecting-rod type underwater clamping mechanical gripper device Download PDFInfo
- Publication number
- CN217475959U CN217475959U CN202220423170.0U CN202220423170U CN217475959U CN 217475959 U CN217475959 U CN 217475959U CN 202220423170 U CN202220423170 U CN 202220423170U CN 217475959 U CN217475959 U CN 217475959U
- Authority
- CN
- China
- Prior art keywords
- short
- long
- lifting lug
- connecting rod
- fisheye bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Abstract
The utility model discloses a multi-link formula centre gripping machinery hand claw device under water belongs to the underwater robot field, adopts slider rocker mechanism to enlarge terminal stroke, adopts the hydraulic pressure scheme to provide drive power, can be used to operations such as underwater robot seabed sample centre gripping, sample. The underwater robot is characterized in that a butt joint plate is connected with a mechanical arm of the underwater robot, a thin hydraulic cylinder is installed on the butt joint plate, and a long lifting lug is installed on the butt joint plate; the lifting lug connecting piece is connected with the extension rod of the thin hydraulic cylinder, a nut is used for preventing looseness, and each side of the lifting lug connecting piece is provided with a threaded hole; the short lifting lug is arranged on the lifting lug connecting piece; the short connecting rod is connected with the short lifting lug; the long connecting rod is connected with the short connecting rod; the clamping jaw is connected with the long connecting rod, the long lifting lug and the like; the clamping jaw is provided with buffer rubber. The utility model discloses a slim pneumatic cylinder constitutes the many connecting rod structures that the stroke was enlargied as the driver, has advantages such as the centre gripping scope is big, simple structure is reliable, with low costs, environmental suitability is strong, the part is easily changed, the output is controllable.
Description
Technical Field
The utility model belongs to the underwater robot field relates to an adopt many connecting rods of hydraulic drive driven underwater robot clamping jaw, mainly is applicable to sample collection such as submarine rock, biology.
Background
The ocean contains abundant resources such as hydrothermal sulfide, biological gene bank, tuberculosis crust, petroleum, combustible ice and the like. Since the 80 s of the last century, exploration, research and development of deep sea resources by human beings are deepened, and the demand of exploration equipment is continuously increased. Offshore operations typically install mechanical jaws on the robotic arm of an underwater robot for subsea rock sampling or biological sample capture. However, the offshore operation conditions are hard, and the mechanical clamping jaws are often required to be simple and reliable in structure, convenient to maintain, easy to replace parts, and suitable for severe seabed environments for a long time. At present, a transmission form of the mechanical clamping jaw mainly adopts a worm gear or a ball screw, but the mechanical clamping jaw is complex in structure, easy to corrode by seawater, low in reliability in a marine environment and required to be operated by professional personnel during marine maintenance.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's not enough, the utility model aims to provide a multi-link formula centre gripping manipulator claw device under water satisfies that the terminal reaction sensitivity of centre gripping manipulator claw has great centre gripping scope simultaneously under water, and output power is controllable.
The purpose of the utility model is realized through the following technical scheme:
a multi-connecting rod type underwater clamping mechanical gripper device comprises a butt joint plate, short lifting lugs, short lifting lug connecting fisheye bearings, long lifting lugs, long lifting lug connecting fisheye bearings, long connecting rods, clamping jaws, buffer rubber, long connecting rod connecting fisheye bearings, short connecting rods, short lifting lug connecting pieces, opposite-top nuts and thin hydraulic cylinders;
one end of the long lifting lug is arranged on the butt joint plate, and the other end of the long lifting lug is connected with the long lifting lug connecting fisheye bearing; one end of the short lifting lug is arranged on the short lifting lug connecting piece, and the other end of the short lifting lug is connected with the short lifting lug connecting fisheye bearing; one end of the short connecting rod is connected with the short lifting lug connecting bearing, and the other end of the short connecting rod is connected with the long connecting rod connecting fisheye bearing; one end of the long connecting rod connected with the fisheye bearing is connected with the short connecting rod, and the other end of the long connecting rod connected with the long connecting rod; one end of the long connecting rod is connected with the long connecting rod connecting fisheye bearing, and the other end of the long connecting rod is connected with the clamping jaw; one end of the thin hydraulic cylinder is fixedly arranged on the butt joint plate, and the other end of the thin hydraulic cylinder is connected with the short lug connecting piece; the opposite-propping nut is arranged on an extension rod of the thin hydraulic cylinder and props against the short lifting lug connecting piece; the grabbing surface of the clamping jaw is provided with buffer rubber; the butt joint plate is provided with a mechanical arm butt joint hole;
the short lifting lug connecting piece, the short lifting lug, the short connecting rod, the long connecting rod and the clamping jaw form a sliding block rocker mechanism, and the small displacement stroke of the extension rod of the thin hydraulic cylinder is amplified to the clamping end at the tail end of the clamping jaw;
when the extension rod of the thin hydraulic cylinder moves downwards, the tail end clamping jaw moves in an opening mode; when the extension rod of the thin hydraulic cylinder displaces upwards, the tail end clamping jaw moves in a closing mode.
The clamping jaw is respectively connected with the long lifting lug connecting fisheye bearing and the long connecting rod.
The short lifting lug is provided with a through hole, is fixed on the short lifting lug connecting piece through two bolts, is connected with the short lifting lug fisheye bearing through a short pin shaft spring retainer ring and a short pin shaft, and keeps a revolute pair; one end of the short connecting rod is provided with a threaded hole, the short connecting rod is connected with the short lifting lug connecting fisheye bearing through threads, the other end of the short connecting rod is provided with a through hole, the short connecting rod is connected with the long connecting rod connecting fisheye bearing through a short pin shaft spring retainer ring and a short pin shaft, and a revolute pair is kept; one end of each long connecting rod is provided with a threaded hole which is connected with the fisheye bearing of the long connecting rod through threads, and the other end of each long connecting rod is provided with a through hole which is connected with the clamping jaw through a long pin shaft, a long pin shaft spring retainer ring, a thin pin shaft and a thin pin shaft spring retainer ring; one end of the long lifting lug is provided with a through hole and is fixedly arranged on the butt joint plate through a bolt and a nut, the other end of the long lifting lug is provided with a through hole, and the long lifting lug is connected with the fisheye bearing through a short pin shaft spring retainer ring and a short pin shaft and keeps a revolute pair; the thin hydraulic cylinder is fixedly arranged on the butt joint plate through a bolt and a nut; and the short lifting lug connecting piece is provided with a threaded hole, is in threaded connection with an extension rod of the thin hydraulic cylinder and is prevented from loosening by using a jacking nut.
Four long lifting lugs are arranged on the butt joint plate.
The short lifting lugs, the short lifting lug connection fisheye bearings, the long lifting lugs, the long lifting lug connection fisheye bearings, the long connecting rods, the clamping jaws, the long connecting rod connection fisheye bearings and the short connecting rods are all four in number; the number of the short pin shaft spring retainer rings used for connecting each short lifting lug and each short lifting lug with the fisheye bearing is 2; the number of the short pin shaft spring retainer rings used for connecting each short connecting rod and each long connecting rod with the fisheye bearing is 2; the number of the short pin shaft spring retainer rings used for connecting each long lifting lug and each long lifting lug connection fisheye bearing is 2; the number of the long pin shafts, the long pin shaft spring retainer rings, the thin pin shafts and the thin pin shaft spring retainer rings which are used for connecting each long connecting rod and each clamping jaw is 2.
An extension rod of the thin hydraulic cylinder moves downwards to drive the short lifting lug connecting piece and the short lifting lug to move downwards, and the clamping jaw is driven to rotate around a pin shaft hole of the long lifting lug connecting fisheye bearing through the transmission of the long connecting rod connecting fisheye bearing and the long connecting rod.
The rotating angle of the clamping jaw around the long lifting lug connecting fisheye bearing pin hole is positively correlated with the displacement of the extension rod of the thin hydraulic cylinder in the working stroke, and the opening angle of the multi-connecting-rod type underwater clamping mechanical gripper is controlled by the thin hydraulic cylinder.
The utility model discloses an advantage does with positive effect:
1. the clamping range is large: the utility model discloses a clamping jaw can be rotatory around long lug pin shaft hole, adopts slider rocker mechanism can enlarge the terminal exposed core of clamping jaw with slim pneumatic cylinder displacement.
2. The structure is reliable: the utility model discloses an underwater clamping mechanical gripper adopts many connecting rods transmission structure, mostly is rule parts such as pole, board, and processing is convenient, easily assembles, and the structure is reliable, is particularly useful for deep sea extreme environment.
3. The cost is low: the underwater clamping mechanical paw has the advantages that the parts of the underwater clamping mechanical paw are convenient to process, and the processing cost is low; and the assembly cost is low by adopting the modes of bolt connection, pin shaft connection and the like.
4. The environmental suitability is strong: the utility model discloses a centre gripping mechanical gripper under water does not have complicated driving medium, and all adopt articulatedly, can expose in the sea water, does not need extra protecting sheathing.
5. The parts are easy to replace: the utility model discloses a centre gripping machinery hand claw part is changed conveniently under water, and is independent mutually before the different hand claws, can independently accomplish the change of damaging the part.
6. The output force is controllable: the utility model relates to an underwater clamping mechanical gripper adopts hydraulic drive, and adopts many connecting rod transmission structure, and terminal clamping-force and slim pneumatic cylinder output power are relevant, and the oil hydraulic pressure that the slim pneumatic cylinder of accessible control advanced oil chamber is and then the terminal clamping-force of control, and output power is controllable in principle.
Drawings
Fig. 1 is a schematic structural view of the open clamping jaw of the present invention.
Fig. 2 is a schematic view of the structure of the utility model with closed clamping jaws.
Fig. 3 is a front view of the open structure of the clamping jaws of the present invention.
Fig. 4 is a schematic diagram of the structure of the butt-joint plate of the present invention.
Fig. 5 is the structure schematic diagram of the short lug connecting piece of the present invention.
Fig. 6 is the structural schematic diagram of the short lifting lug of the present invention.
Fig. 7 is a schematic view of the structure of the long connecting rod of the present invention.
Fig. 8 is a schematic view of the clamping jaw structure of the present invention.
Fig. 9 is a schematic view of the long pin structure of the present invention.
Wherein: the device comprises a butt joint plate 1, a short lifting lug 2, a short lifting lug 3, a long lifting lug 4, a short pin shaft spring retainer 5, a short pin shaft 6, a long lifting lug 7, a long connecting rod 8, a long connecting rod 9, a clamping jaw 10, buffer rubber 11, a long pin shaft 12, a long pin shaft spring retainer 12, a thin pin shaft 13, a thin pin shaft spring retainer 14, a long connecting rod 15, a short connecting rod 16, a short lifting lug connecting piece 17, an opposite-top nut 18 and a thin hydraulic cylinder 19.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in fig. 1-3, the utility model discloses a butt plate 1 (as shown in fig. 4), short lug 2 (as shown in fig. 6), short lug connection fisheye bearing 3, long lug 4, short round pin axle circlip 5, short round pin axle 6, long lug connection fisheye bearing 7, long connecting rod 8 (as shown in fig. 7), clamping jaw 9 (as shown in fig. 8), cushion rubber 10, long round pin axle 11 (as shown in fig. 9), long round pin axle circlip 12, thin round pin axle 13, thin round pin axle circlip 14, long connecting rod connection fisheye bearing 15, short connecting rod 16, short lug connecting piece 17 (as shown in fig. 5), opposite-top nut 18, thin pneumatic cylinder 19. Wherein, the butt joint plate 1 is provided with mounting holes for the long lifting lug 4 and the thin hydraulic cylinder 19, and the long lifting lug 4 and the thin hydraulic cylinder 19 can be fixed on the butt joint plate by bolts. The short lug butt-joint piece 17 is provided with a threaded hole which can be in threaded connection with an extension rod of the thin hydraulic cylinder 19, and the short lug 2 can be fixed by using a bolt. The short lifting lug 2 is provided with a through hole, can be hinged with the fisheye bearing 3 by a short pin shaft 6 and a short lifting lug, and is limited by a short pin shaft spring retainer ring 5. The short connecting rod 16 is provided with a through hole and a threaded hole, can be connected with the short lifting lug connecting fisheye bearing 3 by threads, can be hinged with the long connecting rod connecting fisheye bearing 15 by using a short pin shaft 6, and is limited by a short pin shaft spring retainer ring 5. The long connecting rod is provided with a threaded hole and two through holes, can be connected with a fisheye bearing 15 connected with the long connecting rod through threads, can be hinged with the clamping jaw 9 through a long pin shaft 11 and a thin pin shaft 13, and is limited through a long pin shaft spring retainer ring 12 and a thin pin shaft spring retainer ring 14. The clamping jaw 9 is provided with a threaded hole and a through hole, can be in threaded connection with the long lifting lug connecting fisheye bearing 7, can be hinged with the long connecting rod 8 by using a long pin shaft 11 and a thin pin shaft 13, and is limited by using a long pin shaft spring retainer ring 12 and a thin pin shaft spring retainer ring 14. The opposite-top nut 18 is connected with the extension rod of the thin hydraulic cylinder 19 by screw threads, and is in surface contact with the short lifting lug connecting piece 17 to carry out reverse opposite-top anti-loosening. The long lifting lug 4 is provided with a through hole, can be fixed on the butt joint plate 1 by using bolts and nuts, can be hinged by using a short pin shaft 6 and a long lifting lug connecting fisheye bearing 7, and is limited by using a short pin shaft spring retainer ring 5. The cushion rubber 10 is adhered to the end plane of the jaw 9.
In this embodiment, the short lug connection member 17 is connected to the extension rod of the thin hydraulic cylinder 19 and is installed to ensure that the peripheral plane is parallel to the peripheral plane of the connection plate 1. The planes of the two sides of the short connecting rod 16 and the long connecting rod 8 are ensured to be parallel. The planes of the two sides of the clamping jaw 9 and the long lifting lug 4 are ensured to be parallel.
In this embodiment, the short lifting lug connecting piece 17, the short lifting lug 2, the short lifting lug connecting fisheye bearing 3, the short connecting rod 16, the long connecting rod connecting fisheye bearing 15, the long connecting rod 8 and the clamping jaw 9 form a slider rocker mechanism, and the long lifting lug 4 and the butt plate 1 form a rack.
In the embodiment, when the short pin shaft 6 is installed, the surface contact between each short pin shaft spring retainer ring 5 and the surface of a connecting part is ensured; when the long pin shafts 11 are installed, each long pin shaft spring retainer ring 12 is ensured to be in contact with the surface of a connecting part; the pin shaft 13 is installed by ensuring that each of the pin shaft spring collars 14 is in surface contact with the connecting part.
In this embodiment, when the opposite-top nut 18 is installed, it is required to ensure that the peripheral surface of the short lug connecting piece 17 is parallel to the peripheral surface of the butt plate 1 and then screwed down.
In this embodiment, the driving module is a thin hydraulic cylinder 19, the extension rod of the thin hydraulic cylinder 19 moves to drive the short lifting lug connecting piece to move,
the short lifting lug is driven to move, the long connecting rod is connected with the fisheye bearing and is driven by the long connecting rod, and the clamping jaw is driven to rotate around the pin shaft hole of the long lifting lug connected with the fisheye bearing.
The utility model discloses a theory of operation does:
as shown in figure 1, when an extension rod of a thin hydraulic cylinder 19 moves downwards, a short lifting lug connecting piece 17 is driven to move downwards, a short lifting lug 2 is driven to move downwards, and a long connecting rod is connected with a fisheye bearing 15 and a long connecting rod 8 for transmission, so that a clamping jaw 9 is driven to rotate outwards around a pin shaft hole of a long lifting lug connecting fisheye bearing 7, and the underwater mechanical clamping paw is opened.
As shown in fig. 2, when the extension rod of the thin hydraulic cylinder 19 moves upwards, the short lifting lug connecting piece 17 is driven to move upwards, the short lifting lug 2 is driven to move upwards, the long connecting rod is connected with the fisheye bearing 15 and the long connecting rod 8 for transmission, and the clamping jaw 9 is driven to rotate inwards around the pin shaft hole of the long lifting lug connecting fisheye bearing 7, so that the underwater mechanical clamping paw is closed.
The utility model discloses an application example does:
during the clamping operation of the submarine rock, the extension rod of the thin hydraulic cylinder 19 moves downwards, the underwater manipulator clamping jaw is opened, after the underwater manipulator clamping jaw is close to the rock sample, the extension rod of the thin hydraulic cylinder 19 is controlled to move upwards, and the underwater manipulator clamping jaw is closed to clamp the rock sample. After the clamping action is finished, the oil pressure of the oil inlet cavity of the thin hydraulic cylinder 19 is kept unchanged, and the clamping force is kept unchanged, so that the clamping force is ensured to be output uninterruptedly.
During the sampling operation of the benthos, the extension rod of the thin hydraulic cylinder 19 moves downwards, the underwater manipulator clamping jaw opens, and after the benthos is close to the benthos sample, the extension rod of the thin hydraulic cylinder 19 is controlled to move upwards, and the underwater manipulator clamping jaw closes to clamp the benthos. When clamping is carried out, the oil pressure of the oil inlet cavity of the thin hydraulic cylinder 19 is used as the negative feedback of the control system, so that the clamping force can be controlled not to be too large to protect a clamping target from being damaged, and the controllable clamping force is realized.
The embodiments in the above description can be further combined or replaced, and the embodiments are only described for the preferred embodiments of the present invention, but not limited to the concept and scope of the present invention, and various changes and modifications made by the technical solutions of the present invention without departing from the design concept of the present invention by those skilled in the art all belong to the protection scope of the present invention. The scope of the invention is given by the appended claims and any equivalents thereof.
Claims (6)
1. The utility model provides a multi-link formula centre gripping machinery gripper device under water which characterized in that: the device comprises a butt joint plate (1), a short lifting lug (2), a short lifting lug connection fisheye bearing (3), a long lifting lug (4), a long lifting lug connection fisheye bearing (7), a long connecting rod (8), a clamping jaw (9), buffer rubber (10), a long connecting rod connection fisheye bearing (15), a short connecting rod (16), a short lifting lug connecting piece (17), a butt-joint nut (18) and a thin hydraulic cylinder (19);
one end of the long lifting lug (4) is arranged on the butt joint plate (1), and the other end of the long lifting lug is connected with the long lifting lug connecting fisheye bearing (7); one end of the short lifting lug (2) is arranged on the short lifting lug connecting piece (17), and the other end of the short lifting lug is connected with the short lifting lug connecting fisheye bearing (3); one end of the short connecting rod (16) is connected with the short lifting lug connecting fisheye bearing (3), and the other end of the short connecting rod is connected with the long connecting rod connecting fisheye bearing (15); one end of the long connecting rod connecting fisheye bearing (15) is connected with the short connecting rod (16), and the other end of the long connecting rod connecting fisheye bearing is connected with the long connecting rod (8); one end of the long connecting rod (8) is connected with the long connecting rod connecting fisheye bearing (15), and the other end of the long connecting rod (8) is connected with the clamping jaw (9); one end of the thin hydraulic cylinder (19) is fixedly arranged on the butt joint plate (1), and the other end of the thin hydraulic cylinder is connected with the short lug connecting piece (17); the opposite-top nut (18) is arranged on an extension rod of the thin hydraulic cylinder (19) and props against the short lifting lug connecting piece (17); a buffer rubber (10) is arranged on the grabbing surface of the clamping jaw (9); the butt joint plate (1) is provided with a mechanical arm butt joint hole;
the short lifting lug connecting piece (17), the short lifting lug (2), the short connecting rod (16), the long connecting rod (8) and the clamping jaw (9) form a sliding block rocker mechanism, and the small displacement stroke of the extension rod of the thin hydraulic cylinder (19) is amplified to the clamping end at the tail end of the clamping jaw (9);
when the extension rod of the thin hydraulic cylinder (19) moves downwards, the tail end clamping jaw (9) opens; when the extension rod of the thin hydraulic cylinder (19) displaces upwards, the end clamping jaw (9) moves in a closing mode.
2. The multi-link underwater clamping manipulator apparatus of claim 1, wherein: the clamping jaw (9) is respectively connected with the long lifting lug connecting fisheye bearing (7) and the long connecting rod (8).
3. The multi-link type underwater clamping mechanical gripper device according to claim 1, wherein the short lifting lug (2) is provided with a through hole, is fixed on the short lifting lug connecting piece (17) through two bolts, is connected with the short lifting lug connecting fisheye bearing (3) through a short pin shaft spring retainer ring (5) and a short pin shaft (6), and keeps a revolute pair; one end of the short connecting rod (16) is provided with a threaded hole, the short connecting rod is connected with the short lifting lug connecting fisheye bearing (3) through threads, the other end of the short connecting rod is provided with a through hole, and the short connecting rod is connected with the long connecting rod connecting fisheye bearing (15) through a short pin shaft spring retainer ring (5) and a short pin shaft (6) and keeps a revolute pair; one end of each long connecting rod (8) is provided with a threaded hole and is connected with a fisheye bearing (15) through threads, the other end of each long connecting rod is provided with a through hole, and the long connecting rods are connected with the clamping jaws (9) through long pin shafts (11), long pin shaft spring retainer rings (12), thin pin shafts (13) and thin pin shaft spring retainer rings (14); one end of the long lifting lug (4) is provided with a through hole and is fixedly arranged on the butt joint plate (1) through a bolt and a nut, the other end of the long lifting lug is provided with a through hole, and the long lifting lug is connected with a fisheye bearing (7) through a short pin shaft spring retainer ring (5) and a short pin shaft (6) and keeps a revolute pair; the thin hydraulic cylinder (19) is fixedly arranged on the butt plate (1) through a bolt and a nut; the short lifting lug connecting piece (17) is provided with a threaded hole, is connected with an extension rod of the thin hydraulic cylinder (19) through threads, and is prevented from loosening by a butting nut (18).
4. The multi-link underwater gripping gripper device according to claim 1, wherein four long lifting lugs (4) are mounted on the docking plate (1).
5. The multi-link underwater clamping manipulator device according to claim 3, wherein the number of the short lifting lugs (2), the short lifting lug connecting fisheye bearing (3), the long lifting lugs (4), the long lifting lug connecting fisheye bearing (7), the long connecting rods (8), the clamping jaws (9), the long connecting rod connecting fisheye bearing (15) and the short connecting rods (16) is four; the number of the short pin shaft spring retainer rings (5) used for connecting each short lifting lug (2) and each short lifting lug connecting fisheye bearing (3) is 2; the number of the short pin shaft spring retainer rings (5) used for connecting each short connecting rod (16) and each long connecting rod connecting fisheye bearing (15) is 2; the number of the short pin shaft spring retainer rings (5) used for connecting each long lifting lug (4) and each long lifting lug connection fisheye bearing (7) is 2; the number of the long pin shafts (11), the long pin shaft spring retainer rings (12), the thin pin shafts (13) and the thin pin shaft spring retainer rings (14) which are used for connecting each long connecting rod (8) and each clamping jaw (9) is 2.
6. The multi-link underwater gripping gripper device according to claim 1, wherein the rotation angle of the gripping jaw (9) around the pin hole of the long shackle connecting fisheye bearing (7) and the displacement of the extension bar of the thin hydraulic cylinder (19) are positively correlated within the working stroke, and the opening angle of the multi-link underwater gripping gripper is controlled by the thin hydraulic cylinder (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220423170.0U CN217475959U (en) | 2022-03-01 | 2022-03-01 | Multi-connecting-rod type underwater clamping mechanical gripper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220423170.0U CN217475959U (en) | 2022-03-01 | 2022-03-01 | Multi-connecting-rod type underwater clamping mechanical gripper device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217475959U true CN217475959U (en) | 2022-09-23 |
Family
ID=83306470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220423170.0U Active CN217475959U (en) | 2022-03-01 | 2022-03-01 | Multi-connecting-rod type underwater clamping mechanical gripper device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217475959U (en) |
-
2022
- 2022-03-01 CN CN202220423170.0U patent/CN217475959U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107856029B (en) | Electro-hydraulic hybrid driving industrial mechanical arm structure and control system | |
| CN104858888B (en) | Small underwater hydraulic efficiency manipulator paw articulation structure | |
| CN108098823A (en) | A kind of submarine target catching robot and grasping means | |
| CN106426204B (en) | A kind of submarine pipeline welding underwater robot | |
| CN106323683B (en) | Deep sea seabed grab bucket sampler based on ROV platform | |
| CN210152573U (en) | Multifunctional pipe taking and protecting manipulator suitable for different pipe diameters of submarine drilling rig | |
| CN110145260B (en) | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters | |
| CN207578441U (en) | A kind of submarine target catching robot | |
| CN110722580B (en) | Multifunctional combined paw of underwater mechanical arm and working method thereof | |
| CN217475959U (en) | Multi-connecting-rod type underwater clamping mechanical gripper device | |
| CN210335982U (en) | Mechanical arm | |
| CN106695777A (en) | Hydraulic manipulator | |
| CN114407046A (en) | Multi-connecting-rod type underwater clamping mechanical gripper device | |
| Zhang et al. | 7000M pressure experiment of a deep-sea hydraulic manipulator system | |
| CN112355596B (en) | Underwater control module mounting tool | |
| CN218462219U (en) | Double-connecting-rod type mechanical arm for grabbing square materials | |
| CN112077852A (en) | Long-distance mechanical arm device for shallow underwater operation | |
| CN107520854B (en) | Manned submersible manipulator emergency abandoning device | |
| CN110145263B (en) | Multi-position multifunctional pipe moving manipulator for seabed drilling machine | |
| CN204278029U (en) | Folder anchor chain, cable wire quick-changing type multi-function head | |
| CN103831836B (en) | Allosteric type many seized conditions mechanical paw | |
| KR101358320B1 (en) | Remotely operated vehicle | |
| CN111717725A (en) | Tool for recovering marine pipe | |
| CN213980707U (en) | Clamping and shackle device capable of automatically assembling and disassembling drill rod drilling machine | |
| CN205704194U (en) | High corrosion resistant solid and reliable type underwater manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |